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3.6. FSoE STO activation

If you do not use NX Safety and STO via FSoE, please ignore this part (3.6)

■ Manipulation to activate FSoE STO

1.

Please double click on Ethercat

2.

Please select the drive and Edit PDO map settings of the drive

3.

Select safety input and output (273th)

It is necessary for setting the information in the safety telegram.

4.

Select the new safety CPU

5.

Please confirm the FSoE slave addresses

Safety signals from the servo are shown as Safety I/O

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Содержание R88D-1SNx-ECT Series

Страница 1: ...Servo System 1S series Startup Guide R88M 1L 1M AC Servomotors R88D 1SN ECT AC Servo Drives I823 E1 01...

Страница 2: ...ith respect to the use of the information contained herein Moreover because OMRON is constantly striving to improve its high quality products the information contained in this manual is subject to cha...

Страница 3: ...and precautions for correct use Intended Audience This Guide is intended for the following personnel Personnel in charge of introducing FA systems Personnel in charge of designing FA systems The pers...

Страница 4: ...garding the Products unless Omron s analysis confirms that the Products were properly handled stored installed and maintained and not subject to contamination abuse misuse or inappropriate modificatio...

Страница 5: ...Omron Company websites catalogs and other materials is provided as a guide for the user in determining suitability and does not constitute a warranty It may represent the result of Omron s test condi...

Страница 6: ...to Check the user program for proper execution before you use it for actual operation Trademarks Sysmac and SYSMAC are trademarks or registered trademarks of OMRON Corporation in Japan and other coun...

Страница 7: ...nit Software User s Manual Cat No W501 NJ NX series CPU Unit Software User s Manual W501 NJ501 NJ301 Learning how to program and set up an NJ NX series CPU Unit Mainly software information is provided...

Страница 8: ...oncepts on managing errors that may be detected in an NJ NX series Controller and information on individual errors Use this manual together with the NJ series CPU Unit Hardware User s Manual Cat No W5...

Страница 9: ...story A manual revision code appears as a suffix to the catalog number on the front and back covers of the manual Revision code Date Revised content 01 July 2016 Original production Cat No I823 E1 01...

Страница 10: ...ts 11 1 1 Outline 11 1 2 Servo System constructed in this guide 12 1 3 System configuration 13 2 Before You Begin 15 3 Performing setup 16 3 1 Installation Wiring 16 3 2 System configuration with NJ a...

Страница 11: ...oller Therefore you can realize a position control system easily with reduced wiring effort With auto tuning adaptive filter notch filter and damping control you can set up a system that provides stab...

Страница 12: ...on the system This Guide builds the Servo system in the following steps 1 Installation and wiring 2 System Configuration with NJ and NX safety controller 3 Sysmac Studio project creation and sizing f...

Страница 13: ...l Manual name NJ series CPU Unit NJ501 NJ series CPU Unit Hardware User s Manual Cat No W500 NJ series Power Supply NJ P 3001 NX series EtherCAT Coupler NX ECC NX series EtherCAT Coupler Unit User s M...

Страница 14: ...14 Automation software Product Number of license Model Sysmac Studio Standard Edition Version 1 16 None DVD only SYSMAC SE200D From 1 license to site license SYSMAC SE...

Страница 15: ...copy Warning label 1 sheet General Compliance Information and instructions for EU 1 copy Attached connectors Install the Sysmac Studio Standard Edition Refer to the Sysmac Studio Version 1 Operation M...

Страница 16: ...wing When installing side by side S2 can be reduced to 0mm under some conditions temperature inside cabinet should be lower than 45 and install a fan for air circulation to prevent uneven temperatures...

Страница 17: ...17 2 Approach the drive from top to down 3 Tight the upper part 4 Tight the down part...

Страница 18: ...check motor operation without any load 3 Please attached the power and encoder cable Here is an example with 200W motor Please tight screws in several times in this order 1 4 3 2 Additional Informati...

Страница 19: ...with the spring opener Please refer to the corresponding connector depending on your drive and power supply CNA for 100V 200V up to 1kW CND for 200V 1 5kW 3kW 400V 0 6kW 3kW 4 Please wire the AC power...

Страница 20: ...and Motor 9 Please fixe the FG wire from the motor cable to the drive Or In case of using the shield clamp please attach the cable to the clamp in order to connect the shielded section 10 Please plug...

Страница 21: ...I 0 Safety Wiring 1 By default STO function is inhibited and bypassed with jumpers 2 In case of using STO by hardwire Please make the proper wiring between the safety controller and the drive Servo Dr...

Страница 22: ...ardwire for multiple servo drives Please make the proper wiring between the safety controller and drives Note When G9SP series safety controller is used you can connect up to four 1S series Servo Driv...

Страница 23: ...r wiring Here is an example of latch input 1 Servo Drive connector view Additional Information For further details about wiring method please refer to 1S series AC Servomotors and Servo Drives User s...

Страница 24: ...ase of using NX safety please configure the node address of the NX coupler to 2 Note You can configure the node address depending on your application 3 Please connect EtherCAT cables to devices CN10 E...

Страница 25: ...Please select your sizing tool results Note 1 Please refer to the motor sizing tool startup guide for learning how to create the sizing result I820 E1 01 Note 2 If you do not use the sizing file impo...

Страница 26: ...meters were updated 6 Axis setting were created and updated If you do not use NX Safety please jump to step 10 7 Add a terminal coupler in EtherCAT editor Double click on Ethercat Drag and drop the te...

Страница 27: ...27 8 Add NX Safety unit Double click on NX Coupler Drag and drop NX safety controller 9 Add NX safety I O units Drag and drop Safety I O 10 Please turn on the power supply of all devices...

Страница 28: ...etup the method of connection Enter the IP address and test the connection Push connect button 12 Send Program to NJ Push synchronize button Uncheck the below box in order to send drive parameters and...

Страница 29: ...tion control MC function module of Sysmac Controller recommended settings should be used Related inputs IN2 POT IN3 NOT IN4 DEC IN7 EXT1 IN8 EXT2 Absolute encoder usage Use as absolute encoder but ign...

Страница 30: ...d for resetting the multi turn data or when replacing a motor in actual machine Reset multi turn data Please push clear system This setting required the drive to be restarted Sysmac Studio can do it b...

Страница 31: ...alidate the motor operation Apply the test run configuration activate the Servo ON and initiate the movement Note In case of Error 87 00 ESTP input please check your wiring connection or disable the e...

Страница 32: ...ith test run By default ESTOP Input is activated please deactivated if necessary as following When ESTP is activated Error 87 00 is present on the drive 9 If necessary Adjust Output settings transfer...

Страница 33: ...33 3 5 Easy tuning for gain adjustment Easy tuning Use the following procedure to perform adjustment At first it is recommended to perform easy tuning...

Страница 34: ...34 1 Please right click to the drive and select setup and tuning 2 Please select Easy tuning 3 Please select simple mode and click next 4 Please adjust the motion profile...

Страница 35: ...cify the position deviation to determine that the positioning is completed If it detects a vibration above the vibration detection level during tuning an adjustment failure will occur If you select th...

Страница 36: ...36 7 Please click the record button the motor will move and data will be traced and auto scaled Click next 8 Confirm new gain parameters and save to EEPROM Click Finish...

Страница 37: ...TO 1 Please double click on Ethercat 2 Please select the drive and Edit PDO map settings of the drive 3 Select safety input and output 273th It is necessary for setting the information in the safety t...

Страница 38: ...38 6 Add the Emergency stop button 7 Add the Reset button 8 Edit I O Map variables...

Страница 39: ...39 9 Create safety program 10 Transfer to the controller Please select the controller area Connect to the controller Synchronize with the controller Transfer to the controller...

Страница 40: ...load the safety application Please select the new safety CPU Switch to program mode Activate and run the debug mode then Click on safety validation The safety application is now ready to run Please cl...

Страница 41: ...he FSoE communication is now established FS LED is green and fixed ON STO is activated when Emergency stop button is pushed STO is released when Emergency stop button was released and RESET button act...

Страница 42: ...from the Toolbox to the master on the EtherCAT Tab Page The Servo Drive is added under the master with a node address of 1 Additional Information If the physical EtherCAT network configuration is alr...

Страница 43: ...ameters 1 Right click MC_Axis000 axis 0 in the Multiview Explorer and select Edit from the menu Axis 0 is added to the Multiview Explorer The axis is added as MC_Axis000 2 Right click MC_Axis000 axis...

Страница 44: ...n node 1 and the drive to the input device for axis 0 5 Set the parameters on the Axis Parameter Settings Tab Page The following figure shows the axis parameters for the unit conversion settings Unit...

Страница 45: ...45 6 Operation settings Maximum Velocity 18 000 degree s Maximum Jog Velocity 360 degree s 7 Position count settings Count mode Rotary mode Modulo max 360 Modulo min 0...

Страница 46: ...t click to the drive and select test run 2 Please click step tab adjust motion profile and apply 3 Activate the servo ON 4 Please right click to the data trace settings and add a new trace 5 Chose cyc...

Страница 47: ...er condition 8 Push record button Sysmac Studio is now waiting for the trigger 9 Place the Test run and Data trace windows side by side with docking window feature Push start in test run data traces w...

Страница 48: ...ng Manual tuning guide 1 Please right click to the drive and select setup and tuning 2 Please select Manual Tuning Manual tuning window is displayed It includes rigidity settings gain parameters and d...

Страница 49: ...tings and add a new trace 4 Chose cyclic mode 5 Adjust the sampling interval 6 Adjust the trigger condition 7 Disable parameters reading Push record button Sysmac Studio is now waiting for the trigger...

Страница 50: ...click Apply 10 Activate the Servo ON and Push Start Be careful the motor will move in the forward and reverse direction 11 The data trace is now triggered and result displayed Each time the motor wil...

Страница 51: ...meters to the drive 13 Please repeat step 10 11 and 12 until achieving the desired performance If vibrations appear please reduce the rigidity settings If required It is possible to increase responsiv...

Страница 52: ...e explain the way to tune a 1S servo drive and motor with advanced tuning This method of tuning decrease dramatically the number of tests and trial with actual machine 1 Please right click to the driv...

Страница 53: ...will move If easy tuning has been performed already please select use present setting Load characteristics have been updated Click Next 4 Frequency response simulation Wizard Step 2 Please start the t...

Страница 54: ...54 5 Adjust gain and simulate Please select Maps feature Adjust the gain to a proper value and push refresh simulation Pink curve is the measured value Red curve is the simulated value FROM TO...

Страница 55: ...imulate After increasing gains the gain simulation shows a peak near 0dB This peak shows a resonance frequency Activate the cursor to measure the frequency Activate the 1st notch filter to remove this...

Страница 56: ...d 8 Time response simulation Wizard step 3 In time response simulation the motion profile can be simulated Please push Simulate Motion Profile The chart is updated and shows The speed command speed de...

Страница 57: ...ith the simulation result please transfer parameters to the drive Click Next 10 Check behavior Wizard step 4 Push start trace the motor will move following the previous configuration in Wizard step 3...

Страница 58: ...58 11 Results Wizard step 5 Save to EEPROM Finish...

Страница 59: ...2016 0616 0616 I823 E1 01 Note Do not use this document to operate the Unit...

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